2 citations · 5 across the 8 of their papers we have counts for
8 papers
Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces
Yuan Gao, Victor Paredes, Yukai Gong +3
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying hum…
Provably Stabilizing Global-Position Tracking Control for Hybrid Models of Multi-Domain Bipedal Walking via Multiple Lyapunov Analysis
Yuan Gao, Kentaro Barhydt, Christopher Niezrecki +1
Accurate control of a humanoid robot's global position (i.e., its three-dimensional position in the world) is critical to the reliable execution of high-risk tasks such as avoiding…
Modeling of Interface Loads for EOD Suit Wearers
Yuan Gao, Stephanie Epstein, Murat Inalpolat +2
Explosive Ordnance Disposal (EOD) suits are widely used to protect human operators to execute emergency tasks such as bomb disposal and neutralization. Current suit designs still n…
Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface
Yuan Gao, Yukai Gong, Victor Paredes +2
Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvest…
Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces
Yuan Gao, Chengzhi Yuan, Yan Gu
State estimation for legged locomotion over a dynamic rigid surface (DRS), which is a rigid surface moving in the world frame (e.g., ships, aircraft, and trains), remains an under-…
Invariant Filtering for Bipedal Walking on Dynamic Rigid Surfaces with Orientation-based Measurement Model
Yuan Gao, Yan Gu
Real-world applications of bipedal robot walking require accurate, real-time state estimation. State estimation for locomotion over dynamic rigid surfaces (DRS), such as elevators,…
Global-Position Tracking Control of 3-D Bipedal Walking via Virtual Constraint Design and Multiple Lyapunov Analysis
Yan Gu, Yuan Gao, Bin Yao +1
A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as "…
Impact-Aware Online Motion Planning for Fully-Actuated Bipedal Robot Walking
Yuan Gao, Xingye Da, Yan Gu
The ability to track a general walking path with specific timing is crucial to the operational safety and reliability of bipedal robots for avoiding dynamic obstacles, such as pede…